Table 3 Convergence properties of the calibration algorithms using matrices on the simulated and experimental data

From: Non-orthogonal one-step calibration method for robotized transcranial magnetic stimulation

Data group	Algorithm	Error type	Total errors	P _n
Simulation	QR24	Translation	< 0.4 mm	118
		Translation	< 0.3 mm	None
		Rotation	< 0.2°	10
		Rotation	< 0.17°	28
	QR36	Translation	< 0.4 mm	7
		Translation	< 0.3 mm	14
		Rotation	< 0.2°	6
		Rotation	< 0.17°	22
Experiment	QR24	Translation	< 1 mm	247
		Translation	< 0.7 mm	None
		Rotation	< 0.4°	10
		Rotation	< 0.35°	66
	QR36	Translation	< 1 mm	9
		Translation	< 0.7 mm	27
		Rotation	< 0.4°	6
		Rotation	< 0.35°	57

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